In this paper, we propose the motion adaptation technique on hierarchical structure description for robot joint failure. Traditional techniques have described robots motions using those own each joint angle. So if the robot motions have adapted for another architecture which changed from original one by joint failure, it is impossible that the robot chooses a combination of joints which should be explored by oneself. We propose the motion description based on hierarchical structure and the motion adaptation without identification of robots architecture changing. Experimental result shows that the possibility to adapt the robot motions to changed architecture by oneself.

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This paper presents the development of component type multi-jointed robot arm model based on a method of distributed cooperative control system. So far component based decentralized cooperative control system has been discussed for improving operating technology of multi-jointed redundant manipulator as well as the principle and basic structure of control system. The system consists of a set of components. The component is a basic motion control system to make control of driving unit corresponding to each manipulator part based on the principle of local kinematics. The motion of manipulator is tailored by cooperation base on information interchange in terms of the local control output of components. In this development, the component consists of small and high torque servomotor for driving component joint and high efficiency micro computer for component controller. The component is connected by a magnet for hardware, a communications cable and a power supply cable for controller. This paper deal with a setting method in the initial state when the components are connected. These advantages are shown through the numerical simulation addressed for three-axis robot arm.

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In this paper, we propose a new nonlinear programming based inverse kinematics solver for generating various motions of a multiple articulated robot. Our method utilizes L-BFGS-B method which can handle inequality constraints intrinsically and whose computational cost is low. Our method can generate various motions of a multiple articulated robot only by setting up objective functions. In this paper, we provide several objective functions one of which can generate the motion of a floating-base robot and which can generate self-motion of the redundant robot without calculating the pseudoinverse of the Jacobian matrix. Through computer simulation, we confirm the validity of our method.

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A swimming micro fish robot whose size is as small as a killifish is useful to seek disaster victims in flood areas, because it can go into narrow spaces. In this study, two types of micro fish robots (each total length is about 50 mm) have been developed. One is a fish robot which moves its trunk and tail with small magnetic actuators composed of coils and neodymium magnets. Employing soft material for its tail fin has improved the robot's propulsion performance at an appropriate phase difference between two sets of actuators. As a result, this fish robot can swim considerably fast in water, though its power consumption is very small. In addition, it has been demonstrated that the fish robot can swim by supplying electric power from the authors' original small and lightweight direct-methanol fuel cells (named "Power Tube") with the aid of a voltage booster. Furthermore, it has been shown that another fish robot which moves its tail with an IPMC (ionic polymer-metal composite, notable as artificial muscle) actuator can swim smoothly in water, though its power consumption is considerably larger at present than the former fish robot.

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Since the propulsion mechanism in fluid using elastic fins like caudal fin and pectoral fin of fish is effective, many studies of elastic fin for propulsion in water and development of fish robot using elastic fin were carried out. However, the optimum elasticity of fin is not constant and changed by the movement task and environment, such as swimming speed. It is very difficult to exchange fins of different bending stiffness while moving. Thus, we aimed to develop real-time variable-stiffness fins. As the one of the variable-stiffness-fins, we have developed a fin with variable-effective-length spring. The apparent stiffness of the fin can be changed dynamically. The apparent stiffness of the fin can be changed by effective-length of the spring. This paper describes optimum effective-length of spring for thrust efficiency in uniform flow

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In the movement system which used a normal wheel, the movement of the cross direction and the turning at the place are difficult. Therefore we need much space for a turn. The mechanism that can move to an arbitrary course in a hospital or a factory is needed. On the other hand, recently, in the field of the biomechatronics, robots that imitates a creature's motion has been developed. We paid our attention to the movement of the snail. The snail moves by propagation of traveling waves from tail to head. If it is possible to propagate a traveling wave to some directions, an omni-directional mobile robot is realized. We have developed a transformation type omni-directional mobile robot using a traveling and have confirmed that the robot can move in many directions using a traveling wave.

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This study deals with the motion of a singly flagellated bacterium swimming near a rigid surface. We have developed a method to produce three dimensional orientations of a cell as well as its trajectory from two dimensional images obtained by microscopy. The motion of a cell is observed from the direction parallel to the surface. The orientation is calculated from the positions of front and rear ends of the cell body, which is like a rod, in the x-z plane. Assuming that the cell swims in the direction of the axis of its rod like cell body, we have constructed the trajectory. The motion of a cell swimming backward is significantly affected by a surface when the distance between the cell and the surface is less than about 5 micrometers.

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This study deals with the influence of a rigid surface on the motion of singly flagellated bacteria. We have developed a method to measure the distance between a cell and a surface utilizing the blurring of microscopic images out of focus, the degree of which is well quantified in terms of gradation sequence in grayscale. This method reveals the dependence of the swimming trajectory of a cell on the distance from the surface; in the range within 1.5 micrometers from the surface, most of the backwardly swimming cells draw circular trajectories, while they draw straight trajectories out of this range. Forwardly swimming cells, which draw straight trajectories near the surface, exhibit a similar tendency to the backwardly swimming ones with straight trajectories.

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We have many small diameter pipes that are cooling pipes for atomic power stations, boiler pipes, and gas or water pipe lines. They must be periodically inspected in order to protect the accident previously. Diameters and T-junctions of these pipes are different at the place where pipes change from the main to the branch. The inspection microrobot for these pipes must move different diameter and T-junction. The fabricated mobile microrobot was confirmed to move in different diameter pipes and T-junction whose diameters are between 44 mm and 90 mm. Its speed was 24 mm/s.

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Recently, soft actuators gather attention. They have the characteristics of a natural and flexible movement as human's movement. However, the actuators which have already been developed are inferior the performance, such as efficiency, flexibility and self-repairability, compared to human's muscle. In this study, we proposed a novel soft actuator using magnetic fluid that imitated the structure of human's muscle. We call it artificial muscle type actuator. At first step of this study, the linear movement type actuator combined permanent magnets and magnetic fluid is developed, and various characteristics of magnetic fluid are measured. As a result, we discovered the increase of the magnetic flux density between magnetic poles and the produced power using magnetic fluid.

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We have made the multilink propulsion mechanism in fluid modeled on anguilliform swimming. This propulsion mechanism can be applied to the manipulator and the amphibian propulsion mechanism. In this study, we modified the mechanism to swim in highly viscous fluid of muddy water, and discussed the propulsive characteristics with changing fin shape of the mechanism.

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Attention is currently focused on earthworm's locomotion mechanism is called a peristaltic crawling. The amount of space required by this locomotion mechanism is smaller than that of other locomotion mechanisms. Further, it is possible that the locomotion mechanism move on unleveled ground and inside a tube. In this study, we developed the peristaltic crawling robot that can run not only the in a tube but also on a plane surface. And it can actively and passively change the direction. Further we discussed the robot can adapt to variable environment by applying high extension and contraction units to the robot.

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In recent years, demand has risen for mobile robots that can move in various environments such as on the ground, on water, over rough terrain, etc. In this study we focused on the water strider, which is an amphibious creature. The water strider moves on water, supporting its body with 4 legs and propelling its body with 2 other legs. In addition, water striders can walk on the ground using all 6 legs. We developed an amphibious hexapod robot based on the water strider, and experimented position control including rotation. As a result, the simulation and experimental results showed good performances.

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We have many small diameter pipes that are cooling pipes for atomic power stations, boiler pipes, and gas or water pipe lines. They must be periodically inspected in order to protect the accident previously. Diameters of these pipes are different at the place where pipes change from the main to the branch and a step comes here. The inspection robot for these pipes must move different diameter and go over the step. We propose a mobile robot that imitates the moving of a green caterpillar. The robot is constructed by the eight parallel rubber bellows and three suction brakes. The fabricated mobile robot was confirmed to move in different diameter pipes whose diameters are more than 70 mm. Its speed was 16 mm/s.

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This paper describes the automatic manipulation system by the motion controlled mas group of Euglena. The group of Euglena was formed by the scanned blue laser beam. Euglena gather around the blue laser by their positive orientation phototaxis. In the previous reports, the transportation of a recutangular plastic film was manipulated by the formation controlled Euglena group. The angle of the object can be controlled by using Euglena group and visual feedback control program. In this report, the transportation limit by using Euglena group was extended by devising the shap of the transportation object. Heavy small cupper particle that cannot be transported by Euglena group themselves was succeeded to transport by the special operation tool made of plastic film moved by the Euglena group. This operation tool extend the transportation ability of the Euglena group. The detail will be presented.

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The Alpine skiing is achieved the fast turn by a change in height of gravitational center, the shape of skiing and the bend of the skier. Therefore, the passive turn type skiing robot with a variable height mechanism of gravitational center is developed. The influences on the skiing turn such as the position of gravitational center are examined by using this robot. In this paper, it reports on their experimental results.

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A new flapping mechanism driven by external magnetic fields has been proposed for a flying microrobot. The flapping mechanism consists of a polyimide wing and a permanent magnet attached to a torsion spring. When alternating magnetic fields are applied, the wing flaps due to magnetic torque acting on the magnet. The wing was designed so that the mechanism could change the wing shape between up-stroke and down-stroke. As a result of adjusting the flapping angle, the maximum thrust exceeding the weight of the microrobot could be successfully obtained.

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In order to develop a robot which can perform practical tasks, it would be beneficial to refer animals which have survived in unstructured environments. In this research, we developed a human-like robotic arm which imitates the anatomy of bones and muscles of human upper limb. Although human can control his arm flexibly and robustly, controlling a complex system by existing control methods would be difficult because of its complexity. In this report, we propose a simple but flexible control mechanism inspired by biological adaptation mechanism, and apply our proposed method to the control of the robot. Experimental results show that our proposed method can be applied to the control of a robot with complex structure.

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Living organisms have the flexibility which is caused by yuragi. Then we focus on the bacterial motion because utilizing yuragi, bacteria can move in the direction of a higher concentration of chemical which bacteria prefer although bacteria have only 1 DOF. In this paper, we develop 1 DOF robot inspired by yuragi-based motion of bacteria. We demonstrate that the robot move in order to receive light more, and show the utility of yuragi.

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Two application examples of a fish-type microrobot driven by external magnetic fields were described. One is a robot operation system for science education. The system consists of a man-machine interface and a power amplifier connecting to a drive coil. Since the motion of the caudal fin of the robot synchronized with that of the interface, the operation was quite intuitive. A trial demonstration for upper elementary school students indicated that the operation system would be useful as a science educational tool. The other is an experimental tool for understanding small fish swimming. Due to the wireless magnetically operation, the flow around the robot is not disturbed by power supply wire. In this study, we observed water flow around the robot by particle image velocimetry (PIV) method. As a result, it was shown that reverse Karman Vortex street was created by the caudal fin.

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We propose a new approach for distributed and dynamic role assignment, inspired by a cell differentiation mechanism. We devise a model for multi-robot system control, based on a cell differentiation model proposed in the molecular biological field. The model we proposed consists of networked actions and interactions with other robots in the environment. Results of a cleaning task simulation show that the model we proposed can achieve dynamical role assignment for multiple robots.

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The paper describes a biologically inspired navigation system based on attractor selection mechanism. The robot can reach a particular signal source as a goal, with only a simple sensor and without a model of the environment. It is, therefore, robust to changes in the environment. The novelty of this approach is that it utilizes noise in the navigation to keep the robot searching for the goal. Experimental results of simulation and real-robot experiment are shown.

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A propulsion system with a Dolphin-like fin stroke has been proposed as a novel propulsion system with higher propulsive efficiency and higher safety than a conventional screw propeller As a result, it promotes to the improvement of environmental problems. It is known that a dolphin swims fast and freely in water. The propulsive performance and the kinetic performance of the dolphin are one of great concern among researchers. We paid attention to the dolphin's tail flukes which has an important role to generate propulsive force. So the experiments on both the propulsive force of the outboard propulsor with the oscillating wing which is similar to a real tail flukes of dolphin in shape and the velocity of a small boat equipped with the outboard propulsor were carried out. The propulsive performance of the wing like a dolphin's tail was discussed compared with rectangular wings.

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We conducted questionnaire investigations how liberal arts and informatics students estimated the agents' abilities on three different artificial agents that have different appearances; a PaPeRo human-like robot, an AIBO dog-like robot and a MindStorms machine-like robot. The results showed that 1) the PaPeRo robot received the better estimations from all students, 2) the AIBO and the MindStorms received the significantly better estimations from the informatics students whereas did the worse ones from the liberal arts students.

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This paper investigates how people attribute the individuality of autonomy on a remote manipulated robot. In order to explore this issue, an experiment was conducted that the participants remotely manipulated the "keeper robot" by wireless controller to defend and keep its goal from the "kicker robot". The participants were assigned two types of experimental conditions. The participants assigned to the first experimental condition looked through video capturing motion of the "kicker robot" from behind of the goal. The participants assigned the second experimental condition looked through video capturing motion of the "kicker robot" from position of the "keeper robot". The result suggests that people do not concern in avatar's autonomy when they ground on the situation of the avatar.

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Recently, it is suggested that a person's cognition on another person is influenced by how the person is responding to the other, that is hypothesized as intrapersonal responding-cascade. Although the hypothesis has been tested in the situation of gaze interaction, its scalability for other modalities are not clear. In this study, we test the hypothesis by coping with a psychological distance sense in the situation that a subject and a robot approaches each other. From the experiment, we found only a weak tendency of the effect of subjects' own behavior on the subjects' impression on the robot, that is when a subject and the robot approaches each other, the subjects who have positive impression of friendliness formed stronger feeling as if it might have positive feeling on them. We could not find any other statistical significance in the current experimental setting although there were not any evidences that reject the hypothesis.

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It is necessary for communication robots to execute reflex action and optional action adequately to increase affinity of communication robots. Therefore, it is important to establish algorithm considering relationship between reflex action and optional action. We proposed the algorithm based on interaction of reflex model and emotion model. In this paper, we employed attentive action and avoidance action as reflex action and facial expression as optional action. The algorithm executes suppression or acceleration of attentive action and avoidance action depending on circumstance of emotion model. This allows robots to execute reflex action and optional action adequately. Then, through the results of sensory evaluation, we confirmed the validity of established algorithm.

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In recent years, robots are used as partner in the field of service and healthcare. Therefore, robots are needed to decide actions autonomously to communicate smoothly with human. For action decision, observing of antagonist reactions, learning and replacing antagonist reactions as self-performed reactions are needed. First in observation part, robots observe antagonist reactions for self-performed actions. Then, robots learn form observation of antagonist reactions and replace antagonist reactions for self-performed actions by self-performed reactions for antagonist actions. We established an action decision algorithm for robots based on imitation of antagonist actions. We expressed learning of robots by changing learning coefficient. We expressed action decisions of robots by selecting learning coefficient. We confirmed the efficacy of the algorithm by the result of sensory evaluation.

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This paper describes how to realize an appropriate robot design which enables to establish an intimate partnership between human and robots. We used the Virtual Robot Model (VRM) prepared as 3-Dimensional Computer Graphics to assess the robot design. We have performed an experimental valuation by using psychological methods, and considered how the robot design is perceived through the interactions.

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Human sometimes attributes intentions toward inanimate beings. Attributing intentions toward robots enables human to explain and predict its behavior and leads to smooth communication. Thus, the mechanism that triggers intention attribution must be revealed. The present study examined the effect of reactive movements performed by a moving chair on the intention attribution and the effect of reactive movements of the chair on human behavior. The result indicated that reactive movements of the chair effected both mental state attribution and human behavior.

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In the near future, users of multi-function robots will have to read thick owner's manuals to use them. If users can use these robots without reading difficult manuals, it will improve user efficiency. In this paper, we propose "Partial Execution" as a way for users to easily perform a robot's function. It provides helpful feedback for users by showing a part of the function. We develop a small humanoid robot that provides Partial Execution and discuss the effectiveness of the proposed method.

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It will be important for humanoid robots to representate "animacy", which are expected to work in society in the future. Because several features of living things could attract human-beings and could enable easier interface. We developed soft exteriors with embedded sensing and expressing system. We report effects of "animacy" on the exteriors.

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qWe propose the device detecting the two-dimentional area human indicated by using the pyroelectric sensor. This device allows the information presentation for the area human indicated by the anthropomorphic object. For example, under explanation the function of electric appliances for customers in the shop, if customers indicate the worrisome area and the anthropomorphic electric appliance explains that area, information presentation can be more pertinent and visceral. Detection of the area is conducted by the output of pvroelecric sensors allocated in alignment.

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Crickets have a fixed habit to avoid the fighting for a certain minutes after their defeat. If the fighting opportunity is too frequent, some crickets cannot recover the militancy, which limits the number of fighting crickets depending on their group density. This phenomenon shows the property of crickets as an autonomous system that adapts to the density variation, i.e., environmental change, only by a local interaction. In this research, the mechanism of such a biological adaptability is discussed from the viewpoint of brain function. The behaviour selector is modelled using oscillator network based on the background of brain mechanism, and the model is equipped to a robot and embodied. By activating plural proposed robots in several field conditions, the factor to induce the environmental effect into the individual robot behaviour is extracted.

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The control and mechanical systems of an embodied agent should be tightly coupled so that useful functionalities such as adaptivity can emerge. This indicates that the mechanical system as well as the control system should be capable of a certain level of "computation" for generating the behavior. However, the extent to which "computational offloading" from the control system to the mechanical system should be achieved requires further clarification. In order to effectively consider this, we herein focus on motion primitives as building blocks for the generation of behavior and investigate how synergetic activation patterns of muscles influence the stability of bipedal walking. To this end, we have developed a walking biped with artificial monoarticular and biarticular muscles. Through the preliminary experiments, we found that "retraction" motion, which is activated by the intrinsic dynamics originated from biarticular muscles just before the grounding, plays a remarkably important role as to the stability of walking.

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This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. Investigation has so far been with a fully-decentralized algorithm that can control the morphology of the Slimebot in accordance with the environment encountered. One of the most significant features of the approach of us, the authors of this paper is that explicit exploitation has been promoted with "the emergent phenomena" stemming from the interplay between the control system and the mechanical system for the purpose of controlling the morphology in real time. In order to verify these results, the real physical Slimebot consisting of 17 modules powered by pneumatic actuators is developed. The experiment conducted with the real physical Slimebot shows real-time adaptivity. And then, an improved mechanical module driven by DC motors is proposed. The improved one includes not only rather smaller body but also more degrees of freedom that highly reflect simulation results than the old one.

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A temporary memory plays an important role in data processing. Biological systems are supposed to implement it in some way. We propose an oscillator network as its biological implementation. Oscillation is a commonly observed phenomenon in the biological systems. It can be considered that the biological systems realize the temporary memory through oscillations. In addition, the oscillator network which we propose can hold the memory effectively in comparison with a simple chain reaction. First, we describe the dynamics of oscillators and check if the oscillator network has the function of the temporary memory. A method to predict the memory holding time is then presented. Finally, we present the discussions and future studies with regard to the oscillator network.

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Human muscular-skeleton structure is supposed to play an important role for realizing dynamic locomotion such as jumping and running. This paper investigates the effect of human-like morphology for dynamic bouncing. We design a monopod that has biomimetic muscular-skeleton structure inculuding biarticular muscles and confirm that biarticular muscles strongly governed the posture through bouncing. Experimental results show that a control scheme for stable bouncing is very simple even though the pneumatic artificial muscles have complicated characteristics.

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Understanding the mechanism underlying insect's behavior selection leads to comprehend useful knowledge to design principle of adaptive system based on the interactions between the individuals. The aim of this research is to modelsocial-adaptive behavior mechanism focusing on the cricket's fighting behavior as one typical example of social adaptation. In the cricket's fighting behavior, the antennae play very important role and it is considerable as key element to emerge of social behavior adaptation. This paper describes to attempt to model the antennal information processing system based on our previous proposed NO/cGMP-OA cascade model.

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This paper presents open brain simulator, which estimates the neural state of human through external measurement for the purpose of improving motor and social skills. Macroscopic anatomical nervous systems model was built which can be connected to the musculoskeletal model. Microscopic anatomical and physiological neural models were interfaced to the macroscopic model. Neural activities of somatosensory area and Purkinje cell were calculated from motion capture data.

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This study deals with gait transition in quadruped locomotion by changing embodiment, joint stiffness. The control system is composed of two blocks: First one is rhythmic motion controller with non-linear oscillator network. Another one is tones controller of the joint stiffness. By changing the joint stiffness, smooth and autonomous gait transition of quadruped robot is performed. Performance of the system is verified through hardware experiments.

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Robot control system consists of a feedback controller and reference motion pattern. They are designed based on the robot dynamics and coupled with each other, and it requires lots of calculation to obtain them. A new controller design method based on the existing controller will lead useful way to overcome this problem. So far, we have proposed attractor design method of nonlinear dynamics. This method is based on the vector field in state-space and it enables the new controller design based on existing controllers. In this paper, we propose a modified controller design method using definition of "realizable" vector field and a new controller design method based on the superposition of vector field and state-space mapping.

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Eusocial insects form colony, and they can adapt environmental fluctuations by the colony. Colony is maintained with caste differentiation, which is a self-organized task allocation which raise the efficiency of the colony. Termites have several specialized castes. Pseudergate, one of castes, becomes some different castes. Our purpose are building the internal model and elucidating caste differentiation mechanism. The model is based on biological knowledge. It is suggested that Juvenile Hormone (JH) is concerned in termite caste differentiation, so our research emphasized focus on the relationship between the pseudergate caste differentiation and time evolution of JH titer. The model includes growth in developmental processes and has the time variation of JH affected by the environment. Additionally this model has two interactions: trophallaxis and caste differentiation inhibition. The termite internal state model was evaluated with computer simulation.

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Human cognitive mechanisms have been studied for designing user-friendly interface. One of the key issues is the attribution of own actions to the intention of self or others. It is known that patients with schizophrenia who sometimes attribute their own actions to the intentions of others may perceive themselves as causing events which they do not in fact control, when they feel they are in voluntary movement. In this study, we design the experiment using a haptic device in order to investigate the difference of attribution of own actions when subjects lose haptic stimuli which would happen under normal circumstances. In the result, we show that haptic stimuli does not have implications for the attribution of own actions when anticipated actions happen, but influence it when actions happen with time delay.

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Molecular biologists use a fluorescent microscope to observe intracellular ions (molecules) and study intracellular mechanisms realizing cellular functions. However, they often defocus or miss a freely moving cell from a scope of the fluorescent microscope and then discontinue observation. To overcome this problem, we developed a new microscope system, which enables us to observe intracellular ions and molecules with emission light, focus and track a cell with a transmission light at the same time. We demonstrated that it is possible to continuously observe intracellular Ca^<2+> ions of a freely moving paramecium. It is helpful to research a cell motility of a paramecium.

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We propose a method of automatic assembly of dynamic beads array using optical tweezers combined with computer vision. Time-sharing optical tweezers generates and changes multiple laser trap potentials based on results of real-time recognition of dispersed beads on a cover glass to automatically trap, transport, align and sort the beads without collision each other. We can also use PC mouse for user interface to translate, rotate and expand the array in real-time. Automated forming of silica and colored polystyrene beads arrays are demonstrated.

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Technologies to develop scaffolds with controlled pore layout and porosity have great significance in tissue engineering. In this paper, we describe a novel approach to fabricate 2D and 3D porous biodegradable scaffolds made of PLCL by using magnetic sugar particles as porogens. First, ferrite micro/nano particles were encapsulated in sugar microspheres to make them magnetized. After sieving magnetic sugar particles, those diameter-controlled particles were attracted by a magnetic force to form an assembled template for polymer casting. A magnetic field with polka-dot pattern was also utilized to align particles on desired positions. After polymer casting and removal of the sugar template, spherical pores were generated inside scaffold. For future application in vascular tissue engineering, we extended the scaffold fabrication to straight tubular scaffolds by winding 2D porous sheets on sacrificial molds. The biocompatibility of the developed scaffold was confirmed by viable cells after 4-day culture.

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In the field of regenerative medicine, tissue engineering has gotten a lot of attention. Especially in the department of vascular regeneration, biodegradable vascular constructions play an important role for the regeneration of blood vessel. In this work, we propose a multi-layered vascular scaffold with porosity -gradient and stiffness-gradient in radial direction. Higher porosity at inner layer will help HUVECs to be attached while lower porosity at outer layer supports the mechanical strength of the scaffold. Multi - layered biodegradable tube with gradient porosity will be a good tool to investigate the speed of degradation after implantation. It also proposes that it will be able to avoid the possibility of intimal thickening or lack of endothelial cells.

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We propose fabrication method of arteriole and capillary vessel model with circular cross-section. We fabricated these models with poly(dimethylsiloxane) (PDMS) by photolithography. Our method is based on bonding of two identical PDMS substrates with grooves of semicircular cross-section. However, alignment of these two substrates is quite difficult and the cross-section of the microchannel was little misaligned. To solve this problem, we made pairs of a post and a hole in opposite substrates. We fabricated capillary vessel parts as well as these pairs by multi stage exposure photolithography. The alignment patterns are useful for fine positioning and assembly. We made a model with φ10 μm cross-section and improved circularity of cross-section of the microchannel. There was no leakage in the test of water flow. As an application example of the capillary vessel model, we incubated and monitored human umbilical vein endothelial cell (HUVEC) behavior and morphology in it by fluorescent microscope.

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We previously presented "organic nanotube (ONT) nanopipette". The spout of the fluorescent solution from ONT nanopipette was demonstrated by electro-osmotic phenomenon. For the local environmental control, it is needed to control the spouting volume and the spouting direction. In this paper, the electrostatic field is theoretically analyzed by finite element method to estimate the volume and the direction from ONT nanopipette. Based on the analytical results, the flow rate of electro-osmotic phenomenon was estimated at 0.75 fl/s in the ONT nanochannel. This result shows the possibility to control the local environment of inside of bacteria whose volume is several fl or more by the control of the spout in ms order.

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